Title :
Delaunay Graph Based Path Planning Method for Mobile Robot
Author :
Dong Hui-ying ; Duan Shuo ; Zhao Yu
Author_Institution :
Shenyang Ligong Univ., Shenyang, China
Abstract :
This paper introduces Delaunay graph into path planning for mobile robot for the shortest path. Delaunay Graph is used for modeling the working space, an approximate shortest path of mobile robot is determined by using Floyd algorithm. Path can be found easily with adaptive genetic algorithm by adjusting the parameter. Then genetic algorithm is used for obtaining the optimum path. Results of simulation show that this path planning method is simple and realized easily.
Keywords :
genetic algorithms; graph theory; mesh generation; mobile robots; path planning; Delaunay graph; Delaunay triangular mesh; Floyd algorithm; adaptive genetic algorithm; mobile robot; path planning method; Costs; Genetic algorithms; Mobile communication; Mobile computing; Mobile robots; Orbital robotics; Path planning; Robotics and automation; Shape; Space technology; Delaunay graph; mobile robot; optimum path;
Conference_Titel :
Communications and Mobile Computing (CMC), 2010 International Conference on
Conference_Location :
Shenzhen
Print_ISBN :
978-1-4244-6327-5
Electronic_ISBN :
978-1-4244-6328-2
DOI :
10.1109/CMC.2010.225
